Trailer angle detection system calibration

  • US 9,802,542 B2
  • Filed: 09/19/2016
  • Issued: 10/31/2017
  • Est. Priority Date: 09/26/2012
  • Status: Active Grant
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First Claim
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1. A dynamic calibration method for calibrating a trailer angle detection system of a vehicle towing a trailer, said dynamic calibration method comprising:

  • providing a plurality of cameras;

    wherein providing a plurality of cameras comprises providing a rearward viewing camera at a rear portion of a vehicle equipped with said trailer angle detection system so as to have at least a rearward field of view;

    wherein providing a plurality of cameras comprises providing a driver side camera at a driver side portion of the equipped vehicle so as to have at least a sideward and rearward field of view;

    wherein providing a plurality of cameras comprises providing a passenger side camera at a passenger side portion of the equipped vehicle so as to have at least a sideward and rearward field of view;

    providing a processor that processes image data captured by said rearward viewing camera, said driver side camera and said passenger side camera;

    attaching a trailer to the equipped vehicle and rearward of the equipped vehicle;

    driving the equipped vehicle forward while the equipped vehicle is towing the trailer;

    processing, using said processor, image data captured by at least some of said cameras while the equipped vehicle is being driven forwardly and towing the trailer;

    determining a location of a portion of the trailer via processing by said processor of image data captured by at least some of said cameras while the equipped vehicle is being driven forwardly and towing the trailer;

    responsive at least in part to processing by said processor of image data captured by at least some of said cameras while the equipped vehicle is being driven forwardly and towing the trailer, determining a plurality of trailer parameters and vehicle-trailer interface parameters;

    wherein determining the plurality of trailer parameters and vehicle-trailer interface parameters is performed while the vehicle is being driven forwardly and towing the trailer; and

    calibrating the trailer angle detection system of the equipped vehicle responsive to determination, via processing by said processor of image data captured by at least some of said cameras, that the portion of the trailer is not where said trailer angle detection system expects it to be when the equipped vehicle is traveling straight forward.

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